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Fast and accurate visual odometry from a monocular camera

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Frontiers of Computer Science 2019年第6期13卷 1326-1336页

作者： Xin YANG Tangli XUE hongcheng luo Jiabin GUO School of Electronic Information and Communications Huazhong University of Science and TechnologyWuhan 430074China

This paper aims at a semi-dense visual odometry system that is accurate,robust,and able to run realtime on mobile devices,such as smartphones,AR glasses and small *** key contributions of our system include:1)the modified pyramidal Lucas-Kanade algorithm which incorporates spatial and depth constraints for fast and accurate camera pose estimation;2)adaptive image resizing based on inertial sensors for greatly accelerating tracking speed with little accuracy degradation;and 3)an ultrafast binary feature description based directly on intensities of a resized and smoothed image patch around each pixel that is sufficiently effective for relocalization.A quantitative evaluation on public datasets demonstrates that our system achieves better tracking accuracy and up to about 2X faster tracking speed comparing to the state-of-the-art monocular SLAM system:*** the relocalization task,our system is 2.0X∼4.6X faster than DBoW2 and achieves a similar accuracy.

关键词： visual odometry mobile devices direct tracking relocalization inertial sensing binary feature

Multifunctional properties of a polar spin chain compound[N(C_(3)H_(7))_(4)][Cu(C_(8)H_(4)NO_(4))]·H_(2)O exhibiting both one-dimensional magnetism and nonlinear optical activity

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Chinese Chemical Letters 2024年第2期35卷 622-625页

作者： Ang Li Yanhong Wang Haotian Tian Alimujiang Yalikun Yves Journaux Min luo hongcheng Lu Key Laboratory of Material Chemistry for Energy Conversion and Storage School of Chemistry and Chemical EngineeringHubei Key Laboratory of Bioinorganic Chemistry & Materia MedicaHuazhong University of Science and TechnologyWuhan 430074China Key Laboratory of optoelectronic Materials Chemistry and Physics Fujian Institute of Research on the Structure of MatterChinese Academy of SciencesFuzhou 35002China Institut Parisien de Chimie Moléculaire IPCMSorbonne UniversitéCNRSParis F-75252France

Functional materials with multiple properties are urgent to be explored to reach high requirements for applications *** this work,a new multifunctional one-dimensional(1D)chain compound[N(C_(3)H_(7))_(4)][Cu(ohpma)]·H_(2)O 1(ohpma=deprotonated N-(2-hydoxyphenyl)oxamic acid)exhibiting both 1D antiferromagnetic and nonlinear optical properties,which are both originated from the same polar[Cu(C_(8)H_(4)NO_(4))]magnetic units,has been successfully synthesized by evaporation at room ***-polydentate nature of the(ohpma)3−ligand with constrained tridentate and bidentate coordination sites conducts Cu^(2+)ions coordinating in different geometries and forms 1D chains along the c axis,which are further separated by the[N(C_(3)H_(7))_(4)]+*** the 1D magnetic chains further exhibit noncentrosymmetric polar *** optical study shows polar compound 1 exhibits a discernible second-harmonic generation(SHG)efficiency and the calculation of the partial density of states indicates that the SHG efficiency of 1 is mainly originated from the polar[Cu(C_(8)H_(4)NO_(4))]magnetic ***,magnetic susceptibility shows a broad maximum around 70 K with strong intrachain interaction of J/k B=−113.0 K but no long-range order is observed down to 2 K,suggesting that 1 shows a good 1D *** good 1D magnetism and SHG activity suggest that 1 could be as a potential multifunctional material,particularly.

关键词： Multifunctional properties Magnetic property Nonlinear optical property Evaporation One-dimensional chain

湖北省能源消费CO_(2)与大气污染物协同减排研究

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环境污染与防治 2022年第2期44卷 266-271,277页

作者：罗红成廖琪容誉湖北省生态环境科学研究院(省生态环境工程评估中心) 湖北武汉430072

以2015年为基准年,基于拓展的STIRPAT模型预测2025年湖北省能源消费CO_(2)和主要大气污染物排放量。通过设置基准(记为BAU)情景、低碳(记为LC)情景和强化低碳(记为ELC)情景3种控制情景,测算CO_(2)和主要大气污染物的减排量,并运用污染... 详细信息

以2015年为基准年,基于拓展的STIRPAT模型预测2025年湖北省能源消费CO_(2)和主要大气污染物排放量。通过设置基准(记为BAU)情景、低碳(记为LC)情景和强化低碳(记为ELC)情景3种控制情景,测算CO_(2)和主要大气污染物的减排量,并运用污染物减排量交叉弹性法评价了CO_(2)减排对主要大气污染物的协同效应。结果表明,人口数量和第二产业占比是影响湖北省能源消费的关键因素,人均GDP和城市化率对能源消费有驱动作用,而能耗强度对能源消费有抑制作用。人口数量、人均GDP、第二产业占比、能耗强度、城市化率每发生1.000%的变化,将分别引起湖北省能源消费总量相应发生1.273%、0.215%、1.161%、0.014%和0.096%的变化。至2025年,ELC情景下预计可减少能源消费约1000万t(以标准煤计),削减0.14亿t的CO_(2)排放,同时可分别减少SO_(2)、NO_(x)、PM_(10)排放量2.06万、2.33万、0.93万t。工业和建筑业部门对CO_(2)和主要大气污染物协同减排贡献最大,其次为能源生产与加工转换部门。LC情景和ELC情景政策均对CO_(2)和大气污染物具有协同减排效应。

关键词： STIRPAT模型能源消费 CO_(2) 大气污染物协同效应

Large language model and domain-specific model collaboration for smart education

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Frontiers of Information Technology & Electronic Engineering 2024年第3期25卷 333-341页

作者： Yawei luo Yi YANG School of Software Technology Zhejiang UniversityNingbo 315048China College of Computer Science and Technology Zhejiang UniversityHangzhou 310027China

In this paper,we introduce the large language model and domain-specific model collaboration(LDMC)framework designed to enhance smart *** LDMC framework leverages the comprehensive and versatile knowledge of large domain-general models,combines it with the specialized and disciplinary knowledge from small domainspecific models(DSMs),and incorporates pedagogy knowledge from learning theory *** integration yields multiple knowledge representations,fostering personalized and adaptive educational *** explore various applications of the LDMC framework in the context of smart education.

关键词： smart language knowledge

Switching Behavior of Cascode GaN Under Influence of Gate Driver

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CSEE Journal of Power and Energy Systems 2024年第4期10卷 1816-1833页

作者： Bin luo Guangzhao luo Sihai Li School of Automation Northwestern Polytechnical UniversityXi’an 710072China

With high-frequency,low power dissipation and high-efficiency characteristics,Gallium nitride(GaN)power devices are of significant benefit in designing high-speed motor drives,as they improve performance and reduce ***,due to the cascode structure,coupling with the parasitics in gate driver and power circuits,power converters based on cascode GaN are prone to overshoot and oscillate on switching waveforms,which may lead to serious EMC problems,or even device *** complicated structure of cascode GaN device makes the gate driver design comparatively *** analytical model of the switching process considering gate driver parameters is proposed in this *** influence of gate driver parameters on switching behavior is investigated from the perspective of switching speed,waveform overshoot,and power ***-offs among overshoot,switching speed,and power loss are discussed;guidelines to design gate driver parameters are given.

关键词： Gallium nitride(GaN) gate driver oscillation and overshoot switching characteristics

Catalyst design and structure control for photocatalytic refineries of cellulosic biomass to fuels and chemicals

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Journal of Energy Chemistry 2024年第7期94卷 102-127页

作者： Lulu Sun Nengchao luo State Key Laboratory of Catalysis Dalian National Laboratory for Clean EnergyDalian Institute of Chemical PhysicsChinese Academy of SciencesDalian 116023LiaoningChina

Lignocellulosic biomass is the largest renewable hydrocarbon resource on *** cellulose,one of the major components of lignocellulose,powered by solar energy is a promising way of providing lowcarbon-footprint energy chemicals such as H_(2),HCOOH,CO,and transportation ***-of-the-art biorefineries target the full use of biomass feedstocks as they have a maximum collection radius of 75-100 km,requesting efficient and selective photocatalysts that significantly influence the outcome of photocatalytic ***-performed photocatalysts can harvest a broad solar spectrum and are active in breaking the chemical bonds of cellulose,decreasing the capital investments of ***,photocatalysts should control the selectivity of cellulose conversion,originating target products to level down separation *** separation in photocatalysts and interfacial charge transfer between photocatalysts and cellulose affect the activity and selectivity of cellulose refineries to H2 and carbonaceous *** account for the challenges above,this review summarizes photocatalysts for the refineries of cellulose and downstream platform molecules based on the types of products,with the structure features of different types of photocatalysts discussed in relation to the targets of either improving the activity or product *** addition,this review also sheds light on the methods for designing and regulating photocatalyst structures to facilitate photocatalytic refineries of cellulose and platform molecules,meanwhile summarizing proposed future research challenges and opportunities for designing efficient photocatalysts.

关键词： Photocatalysts Biorefineries Cellulose Fuels Hydrogen

Precision regulation of plant aromatic amino acid homeostasis

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Science China(Life Sciences) 2024年第6期67卷 1316-1317页

作者： Jie luo Yazhouwan National Laboratory(YNL) Sanya 572025China School of Breeding and Multiplication(Sanya Institute of Breeding and Multiplication) Hainan UniversitySanya 572025China

The aromatic amino acids(AAAs)phenylalanine(Phe),tyrosine(Tyr),and tryptophan(Trp)are not only building blocks of proteins,but also precursors of numerous primary and specialized metabolites(Schenck and Maeda,2018).For instance,Trp is a precursor of the phytohormone auxin and the plant defense compounds indole glucosinolates,while Phe serves as a precursor of lignin,coumarin and *** plant natural products such as morphine and vitamin E are derived from Tyr,and have been employed in human medicine and nutrition(Schenck and Maeda,2018;Wu et al.,2022;Yokoyama et al.,2021).

关键词： aromatic instance coumarin

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Detecting APT-Exploited Processes through Semantic Fusion and Interaction Prediction

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Computers, Materials & Continua 2024年第2期78卷 1731-1754页

作者： Bin luo Liangguo Chen Shuhua Ruan Yonggang luo School of Cyber Science and Engineering Sichuan UniversityChengdu610065China Key Laboratory of Data Protection and Intelligent Management(Sichuan University) Ministry of EducationChengdu610065China Cyber Science Research Institute Sichuan UniversityChengdu610065China

Considering the stealthiness and persistence of Advanced Persistent Threats(APTs),system audit logs are leveraged in recent studies to construct system entity interaction provenance graphs to unveil threats in a ***-based provenance graph APT detection approaches require elaborate rules and cannot detect unknown attacks,and existing learning-based approaches are limited by the lack of available APT attack samples or generally only perform graph-level anomaly detection,which requires lots of manual efforts to locate attack *** paper proposes an APT-exploited process detection approach called ThreatSniffer,which constructs the benign provenance graph from attack-free audit logs,fits normal system entity interactions and then detects APT-exploited processes by predicting the rationality of entity ***,ThreatSniffer understands system entities in terms of their file paths,interaction sequences,and the number distribution of interaction types and uses the multi-head self-attention mechanism to fuse these ***,based on the insight that APT-exploited processes interact with system entities they should not invoke,ThreatSniffer performs negative sampling on the benign provenance graph to generate non-existent edges,thus characterizing irrational entity interactions without requiring APT attack *** last,it employs a heterogeneous graph neural network as the interaction prediction model to aggregate the contextual information of entity interactions,and locate processes exploited by attackers,thereby achieving fine-grained APT *** results demonstrate that anomaly-based detection enables ThreatSniffer to identify all attack *** to the node-level APT detection method APT-KGL,ThreatSniffer achieves a 6.1%precision improvement because of its comprehensive understanding of entity semantics.

关键词： Advanced persistent threat provenance graph multi-head self-attention graph neural network

THE GRADIENT ESTIMATE OF SUBELLIPTIC HARMONIC MAPS WITH A POTENTIAL

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Acta Mathematica Scientia 2024年第4期44卷 1189-1199页

作者： Han luo School of Mathematical Sciences Fudan UniversityShanghai 200433China

In this paper,we investigate subelliptic harmonic maps with a potential from noncompact complete sub-Riemannian manifolds corresponding to totally geodesic Riemannian *** some suitable conditions,we give the gradient ... 详细信息

关键词： sub-Riemannian manifolds subelliptic harmonic maps with potential gradient estimate Liouville Theorem